Title :
An experimental study on digital control of planer manipulators
Author :
Nishino, Takayoshi ; Kusumoto, Yoshiharu ; Fujioka, Hisaya
Author_Institution :
Graduate Sch. of Informatics, Kyoto Univ., Japan
Abstract :
In this paper, a position control problem for a planer manipulator is considered. A sufficient condition for asymptotical stability of a manipulator with digital PD feedback control law has been derived recently. This paper presents some experimental results with a SICE DD arm in order to verify the stability theory.
Keywords :
PD control; feedback; manipulators; position control; stability; asymptotical stability; digital PD feedback control law; digital control; planer manipulators; position control problem; sufficient condition; Digital control; Feedback control; Manipulator dynamics; Metalworking machines; PD control; Position control; Robust control; Sampling methods; Stability; Sufficient conditions;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195585
